The invention relates to a process for painting a workpiece using a painting robot including a robot arm equipped with a paint spraying device, the process including, an operation S1 of modeling a realistic 3D model corresponding to the workpiece as deformed and positioned in a paint cell, the realistic 3D model including paint trajectory information suitable for the workpiece as deformed and positioned in the paint cell, and a paint spraying operation S2 during which the paint spraying device is moved along the paint trajectory opposite the workpiece.

A method of manufacturing a panel assembly includes supporting the panel assembly in a free state using a holding fixture. The panel assembly has a skin panel, and sacrificial material coupled to a skin panel inner surface. The method includes acquiring a free state outer surface contour of the panel assembly by scanning a skin panel outer surface while the panel assembly is supported by the holding fixture. The method also includes developing a numerically controlled (NC) machining program having cutter paths configured for machining the interface locations to an inner surface contour that reflects nominal thicknesses of the panel assembly based off of the free state outer surface contour. In addition, the method includes machining the sacrificial material at the interface locations by moving a cutter along the cutter paths while the panel assembly is supported by the holding fixture.

In a robot control system, a storage unit stores a plurality of programs corresponding to tasks for a robot to perform. A reception unit receives selections made by a user, which designate a task for the robot to perform and attribute information related to a program causing the robot to perform the task among the plurality of programs. An acquisition unit acquires the program for performing the task among the plurality of programs from the storage unit based on the task and the attribute information. A robot control unit controls the robot in accordance with the acquired program.

A tool magazine (40) is able to move among a machining position where a tool (2) attached to a spindle (30) machines a workpiece, a tool exchange position where the tool (2) attached to the spindle (30) is exchanged, and a retreat position where an automated workpiece carrying device is not disturbed in placing or removing of the workpiece with respect to a workpiece placing part (20). The workpiece is placed on the workpiece placing part (20) from above or removed upward from the workpiece placing part (20) by the automated workpiece carrying device.

Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

Provided is an offline programming device that generates, while being offline, a program for operating a robot, wherein, when a coordinate system that serves as a reference for the robot is changed, a position parameter generated on the basis of a coordinate system before the change is automatically corrected on the basis of the coordinate system before the change and a coordinate system after the change so that absolute positions of the position parameter become equal to each other before and after the change.

A tool magazine (40) is able to move among a machining position where a tool (2) attached to a spindle (30) machines a workpiece, a tool exchange position where the tool (2) attached to the spindle (30) is exchanged, and a retreat position where an automated workpiece carrying device is not disturbed in placing or removing of the workpiece with respect to a workpiece placing part (20). The workpiece is placed on the workpiece placing part (20) from above or removed upward from the workpiece placing part (20) by the automated workpiece carrying device.

In a machine tool, a control device performs control on an axis member rotating device and a stage rotating device such that when part of a placement region RE in a stage is arranged in a position opposite a spindle cutter in a third direction, in a direction which is at least one of a first direction and a second direction and in which accuracy is required, a screw axis length from a connection portion of the screw axis member of a ball screw and an axis member rotating device to a nut portion is minimized and that the part of the placement region RE in the stage is moved to the position opposite the spindle cutter in the third direction.

Provided is an offline programming device that generates, while being offline, a program for operating a robot, wherein, when a coordinate system that serves as a reference for the robot is changed, a position parameter generated on the basis of a coordinate system before the change is automatically corrected on the basis of the coordinate system before the change and a coordinate system after the change so that absolute positions of the position parameter become equal to each other before and after the change.

Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.